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SICE Annual Conference

作者： Woong Kwon Bum Hee Lee Automation and Systems Research Institute Seoul National University Seoul South Korea Department of Control and Iiistrumentation Engineering Seoul National University Seoul South Korea

A new force optimization scheme of multiple co operating robots is explained. General formula tions of the force optimization problem are built into quadratic programming with linear equality and quadratic inequality constraints. This paper presents an algorithm for solving these general force optimiza tion problems using compact dual method, The proposed algorithm reduces the problem size considerably and makes the problem simpler. These features exhibit the efficiency of this technique compared with well-known other methods. Numerical examples for two cooperating PUMA robots using the proposed al gorithm and Nahon's algorithm are presented and comparison of the both methods are explained.

关键词： Optimization methods Robotics and automation Constraint optimization Torque Quadratic programming Robot programming Automatic control control systems Linear programming Friction

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PATH CONSTRAINED TIME-OPTIMAL MOTION OF A COOPERATIVE 2 ROBOT SYSTEM

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ROBOTICA 1995年第4期13卷 363-374页

作者： CHO, HK LEE, BH KO, MS Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56–1 Shinrim-dong Kwanak-ku Seoul 151–742 (Korea)

This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called admissible region in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant. Physical interpretation on the characteristics of the optimal actuator torques is also included with computer simulation results.

关键词： COOPERATIVE ROBOTS PRESCRIBED PATH COMPUTER SIMULATION

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control OF HYBRID STEP MOTORS VIA A SIMPLIFIED LINEARIZATION TECHNIQUE

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INTERNATIONAL JOURNAL OF control 1995年第5期61卷 1143-1167页

作者： CHU, SH HAT, IJ Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56-1 Shinrim-Dong Kwanak-Ku Seoul 151–742 Korea

In this paper, we propose a simplified linearization technique for control of hybrid step motors that is based on a hacking approach. Our controller consists of a current tracking controller and a torque controller. In particular, our torque controller contains a function which can be chosen freely under some constraints imposed by the physical limitation in stator currents. Any controller that can make the generated torque of a hybrid step motor linear to the torque command can always be represented by our torque controller with a specific choice of the free function. As an example for optimal choices of the free function, we present a method of determining the free function that gives minimal power loss due to stator resistance. We also present a method of obtaining the full dynamic model of a hybrid step motor. Prior works consider the special cases when the torque component due to variable reluctance is negligible or sinusoidal. Our results in this paper can be applied equally well to these special cases.

关键词： Linearization

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Robust Analysis of Distillation Column Dynamics

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IFAC Proceedings Volumes 1995年第9期28卷 333-338页

作者： E.I. Varga G.Z. Kovács S.B. Jørgensen K.M. Hangos Systems and Control Laboratory Computer and Automation Research Institute Department of Chemical Engineering The Technical University of Denmark Lyngby Denmark

The robust stability and performance of a binary distillation column model is analysed using a minimal state space representation. The uncertainty modelling of the column is resulted in an LFT form with a four element diagonal block structure taking into account the dependence between the steady state gains. Robust analysis of the distillation column dynamics is performed and compared using µ - and l 1 -analysis tools. The magnitude of possible overshoots is determined by l 1 -test for robust performance and the dependence of this magnitude on the dominant time constant (i.e. the purity of the separation) is investigated. Futhermore the effect of the mi certainties in the time constants and the singular values on the robust performance is also analysed using l 1 -test. It has been found that the uncertainty in the time constants affects dominantly the robust performance of the open-loop system, i.e. the magnitude of possible overshoots.

关键词： Distillation column parametric uncertainty modelling robust stability robust performance

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H/sub /spl infin// vibration control of active suspension for automotive application

H/sub /spl infin// vibration control of active suspension fo...

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SICE Annual Conference

作者： A. Kanbolat Y. Okuyama F. Takemori L. Gianone S. Horvat J. Bokor Department of Information and Knowledge Engineering Facult of Engineering Tottori University Japan Tottori Daigaku Tottori JP Dept. of Inf. & Knowledge Eng. Tottori Univ. Japan Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Transpoi-talion Engineering Technical University of Budapest Hungary

This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.

关键词： control systems control theory Open loop systems Displacement control Weight control Acceleration Wheels Fluctuations Robust control Power system modeling

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A LYAPUNOV-LIKE APPROACH TO PERFORMANCE ANALYSIS OF 3-DIMENSIONAL PURE PNG LAWS

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC systems 1994年第1期30卷 238-248页

作者： SONG, SH HA, IJ Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul South Korea

The 3-dimensional PPNG (pure proportional navigation guidance) law was proposed about forty years ago, but its performance has been analyzed only on the basis of the linearized trajectory equations, which are valid locally around the collision course. We take into full account the nonlinear dynamic characteristics of pursuit situation in the 3-dimensional space to analyze the performance of the 3-dimensional PPNG law more rigorously. We prove that a missile guided by the 3-dimensional PPNG law can always intercept a target maneuvering randomly in the 3-dimensional space if 1) the target acceleration varies with a known bound, 2) the navigation constant is selected large, and either 3a) the initial heading error is small or 3b) the missile keeps the head toward the target during flight. We also propose a modified PNG law, which seems to exhibit better performance at the final phase of pursuit than the conventional PPNG law. We introduce a Lyapunov-like method that proves to be a very powerful tool in obtaining our results.

关键词： Performance analysis Missiles Acceleration Navigation Angular velocity Nonlinear equations Angular velocity control Proportional control control systems Instruments

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GLOBAL PATH PLANNING FOR MOBILE ROBOT WITH GRID-TYPE WORLD MODEL

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 1994年第1期11卷 13-21页

作者： LEE, JG CHUNG, HY Automation and Systems Research Institute and Department of Control and Instrumentation Engineering Seoul National University Seoul Korea 151–742

This paper presents a new methodology for global path planning for an autonomous mobile robot in a grid-type world model. The value of a certainty grid representing the existence of an obstacle in the grid is calculated from readings of sonar sensors. In the calculation, a way of utilizing three sonar sensor readings at a time is introduced, resulting in a more accurate world model. Once the world model is obtained, a network for path planning is built by using the model. The global paths, defined as the shortest paths between all pairs of nodes in the network, are calculated. A fast algorithm using a decomposition technique is proposed for real-time calculation. The new methodology has been implemented on the mobile robot whose role is to transport materials in a flexible manufacturing system. The results show that the proposed method of certainty grids satisfactorily represents a precise environment, including the locations of obstacles. Thus, the robot successfully comprehends its surroundings, and navigates to its destinations along optimal paths.

关键词： Mobile robots

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EXPLICIT CHARACTERIZATION OF ALL FEEDBACK-LINEARIZING controlLERS FOR A GENERAL TYPE BRUSHLESS DC MOTOR

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IEEE TRANSACTIONS ON AUTOMATIC control 1994年第3期39卷 673-677页

作者： HA, IJ KANG, CI Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University Seoul Kyunggi South Korea

In this note, we consider feedback-linearizing control of brushless dc motors which have been increasingly used in high-performance servo applications. We completely characterize the whole class of the feedback controllers that enable the brushless dc motors to behave like linear systems but without torque ripple. The whole class of the feedback-linearizing controllers is characterized in the explicit form which contains a function to be chosen freely. The previously known controllers correspond to either the particular ones in our whole class of the feedback-linearizing controllers or their truncated Fourier expansions. This free function can be used to achieve other control objectives as well as linear dynamic characteristics. Furthermore, our feedback-linearizing controllers can be easily determined from the measurement data of back EMF and can be used even for the case of asymmetric back EMF.

关键词： Brushless DC motors Stators control systems Linear systems Shape control Automatic control Servomechanisms DC motors Torque control Adaptive control

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Grey-Box Modeling for Identification and control: An Emerging Discipline or an Established Technology?

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IFAC Proceedings Volumes 1994年第8期27卷 1193-1198页

作者： S. Bay Jorgensen K.M. Hangos Department of Chemical Engineering Technical University of Denmark Systems and Control Research Laboratory: Computer and Automation Institute HAS

Grey box modeling is a widely used term, which presently reflects that both a priori and experimental knowledge is being incorporated into the model building process. A brief investigation into various uses of grey box modeling approaches reveals that they mainly differ with respect to the required model accuracy. The goal of the model application also has to be considered in the model building, since it constrains the necessary accuracy required by the model. In this paper these two viewpoints are combined thus leading to a proposed new definition of grey box modeling.

关键词： Qualitative differential and algebraic equations Uncertainty representation Verbatim models Robust identification and control Modeling cycle

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A graph-theoretic approach to integrated process and control system synthesis

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IFAC Proceedings Volumes 1994年第7期27卷 61-66页

作者： K.M. Hangos F. Friedler J.B. Varga L.T. Fan Systems and Control Research Laboratory Computer and Automation Institute Hungarian Academy of Sciences H-1518 Budapest Pf. 63 Hungary Department of Systems Engineering Research Institute of Chemical Engineering Hungarian Academy of Sciences H-8201 Veszprim Pf 125 Hungary Department of Chemical Engineering Kansas State University Manhattan KS 66506 USA

A graph-theoretic method for integration of process and control system (IPCS) syntheses has been proposed in the present paper. The foundation of this integration is a well-established, graph-theoretic approach to process synthesis in conjunction with the analysis of structural controllability based on digraph-type process models. A directed bipartite graph, the CP-graph, has been introduced for unambiguous representation of an IPCS structure. The notion of CP-graph has given rise to a set of axioms for describing the combinatorially feasible and controllable structures. The maximal controllable structure of an IPCS synthesis problem has been defined as the union of combinatorially feasible and controllable IPCS structures; obviously, the optimal IPCS structure must be a substructure of this maximal controllable structure. Thus, the mathematical programming model, e.g., MINLP model, of an IPCS synthesis problem should be derived from the maximal controllable structure. The fundamental combinatorial algorithm of IPCS synthesis, i.e., algorithm CMSG, for identifying this maximal controllable structure has been formulated. The complexity of this algorithm has been proved to be polynomial on the size of the problem; its efficacy is illustrated with a relatively simple example. The resultant IPCS structures are compared with the structures synthesized without considering their control systems.

关键词： Process control control system synthesis structural controllability combinatorial mathematics synthesis methods

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